|
|
|
Robust neural network control of dual-manipulator cooperative
system handling flexible payload |
| TANG Zhi-guo1,2, LI Yuan-chun2, LIU Mu-lin1,2 |
1.State Key Laboratory of Automobile Dynamic Simulation, Jilin University, Changchun 130022, China;
2. College of Communication Engineering, Jilin University, Changchun 130022, China |
|
|
|
Abstract Aimed at the multivariable rigidflexible coupling system of dualmanipulator cooperative system handling a flexible payload, the decomposition and the trajectory tracking control of finite element modeling for the system were conducted based on the singular perturbation theory. Considering the complexity of dynamic model, the model was divided into two subsystems which included a slow subsystem describing the large rigid motion and a fast subsystem expressing the elastic vibration by the dualtime scale transform. A robust neural network controller was designed based on the idea of backstepping in the slow subsystem in order to complete the system trajectory tracking performance. For the fast subsystem, a robust optimal controller was presented to suppress the elastic vibration of the system. Simulation results show that the controller can strengthen the tracing ability and the robustness of the system.
|
|
Published: 01 July 2010
|
|
|
机械臂协调操作柔性负载鲁棒神经网络控制
针对多变量刚柔耦合的双机械臂协调操作柔性负载系统,基于奇异摄动理论研究该系统有限元模型的分解以及轨迹跟踪控制问题.考虑动力学模型的复杂性,通过双时标变换将协调系统分解成表征系统大范围刚性运动的慢变子系统和表征系统弹性振动的快变子系统.基于反演思想在慢变子系统中设计鲁棒神经网络控制策略,实现系统轨迹跟踪性能；针对快变子系统,设计鲁棒最优控制策略抑制系统的弹性振动.仿真研究结果表明,该控制策略增强了系统的跟踪性能和鲁棒性.
|
|
| ［1］ KOSUGE K, HASHIMOTO S, YOSHIDA H. Humanrobots collaboration system for flexible object handling ［C］∥IEEE International Conference on Robotics and Automation. Leuven, Belgium: IEEE, 1998: 18411846.
［2］ ZHENG Y F, CHEN M Z. Trajectory planning for two robot manipulators to deform flexible beams ［C］∥Proceedings of IEEE International Conference on Robotics and Automation. Atlanta, USA: IEEE, 1993: 10191024.
［3］ JAMES K M, JERRY G L I. Robotic fixtureless assembly of sheet metal parts using dynamic finite element models: modeling and simulation ［C］∥Proceedings of IEEE International Conference on Robotics and Automation. Nagoya, Japan: IEEE, 1995: 2530 2537.
［4］ JAMES K M, JERRY G L. Dynamic modeling and control of a multirobot system for assembly of flexible payloads with application to automotive body assembly ［J］. Journal of Robotic Systems, 1996, 13(12): 817836.
［5］ SUN Dong, LIU Yunhui. Stabilizing a flexible beam handled by two manipulators via PD feedback ［J］. IEEE Transactions on Automatic Control, 2000, 45(11): 21592164.
［6］ SUN Dong, LIU Yunhui. Position and force tracking of a twomanipulator system manipulating a flexible beam ［J］. Journal of Robotic Systems, 2001, 18(4): 197212.
［7］ SUN Dong, LIU Yunhui. Position and force tracking of a twomanipulator system manipulating a flexible beam payload ［C］∥ Proceedings of IEEE International Conference on Robotics and Automation. Seoul: IEEE, 2001: 34833488.
［8］ AMER S Y, JAMIL A, HSIA T C. Modeling and control of two manipulators handling a flexible object ［J］. Journal of the Franklin Institute, 2006, 344(5): 349361.
［9］ ZHANG Peng, LI Yuanchun. Position/force control of two manipulators handling a flexible payload based on finiteelement model ［C］∥Proceedings of IEEE International Conference on Robotics and Biomimetics. Sanya: IEEE, 2007: 2178 2182.
［10］ ZHANG Peng, LI Yuanchun. Simulations and trajectory tracking of two manipulators manipulating a flexible payload ［C］∥ International Conference on Robotics, Automation and Mechatronics. Chengdu: IEEE, 2008: 7277.
［11］ TANG Zhiguo, LI Yuanchun. Modeling and control of two manipulators handling a flexible payload based on singular perturbation ［C］∥The 2nd IEEE International Conference on Advanced Computer Control. Shenyang: IEEE, 2010: 558562.
［12］ 许可康.控制系统中的奇异摄动［M］.北京：科学出版社,1986: 2331.
［13］ FRANK L L, AYDIN Y, KAI L. Multilayer neuralnet robot controller with guaranteed tracking performance ［J］. IEEE Transactions on Neural Networks, 1996, 7(2): 388399. |
|
Viewed |
|
|
|
Full text
|
|
|
|
|
Abstract
|
|
|
|
|
Cited |
|
|
|
|
| |
Shared |
|
|
|
|
| |
Discussed |
|
|
|
|
